CN109239685A - A kind of caliberating device and its scaling method of vehicle-mounted millimeter wave radar installation site - Google Patents
A kind of caliberating device and its scaling method of vehicle-mounted millimeter wave radar installation site Download PDFInfo
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- CN109239685A CN109239685A CN201811222770.5A CN201811222770A CN109239685A CN 109239685 A CN109239685 A CN 109239685A CN 201811222770 A CN201811222770 A CN 201811222770A CN 109239685 A CN109239685 A CN 109239685A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to the installations of vehicle-mounted millimeter wave radar to demarcate field, the caliberating device and its scaling method of specifically a kind of vehicle-mounted millimeter wave radar installation site, including radar onboard is arranged, it further include being arranged in front of radar for determining the spotting group of radar installation site, the spotting group includes pedestal, the array support rod being set on the base, it is provided with the corner reflector that can reflect millimeter wave on every group of support rod, the specific steps of which are as follows: S1: positioning；S2: calibration；S3: information is sent；S4: compare；S5: correction；S6: calibration；It invention can be widely used in the offline installation equipped with vehicle-mounted millimeter wave radar vehicle to demarcate, improve radar installation accuracy, it is ensured that radar data reduction, support vehicles driving safety.
Description
Technical field
The present invention relates to the installations of vehicle-mounted millimeter wave radar to demarcate field, specifically a kind of vehicle-mounted millimeter wave radar installation position
The caliberating device and its scaling method set.
Background technique
Along with the development of science and technology, the appearance of vehicle intelligent active safety technologies further improves the driving safety of vehicle
Property, while also to as advanced driving assistance system Advanced Driver Assistant System, ADAS important composition
More stringent requirements are proposed for partial vehicle-mounted millimeter wave radar.Vehicle-mounted millimeter wave radar is by transmitting-receiving millimere-wave band electromagnetic wave to vehicle
Traveling in surrounding road condition detected and analyzed.As sensor, radar is work using itself as the ball of centre of sphere origin
In coordinate system, therefore the deviation of trailer-mounted radar Installation posture will result directly in the offset of radar coverage and target information, shadow
Judgement of the active safety system for road conditions environment is rung, security of system energy and driving experience are reduced.
As disclosed a kind of vehicle-mounted Radar Calibration method of combination in China Patent Publication No. CN201611001745.5, in vehicle
To radar, backward radar and lateral radar before upper installation, to the installation site information of radar and backward radar, root before calibration
According to the preceding setting angle estimated to the detection range of radar or backward radar, the detection range of lateral radar and lateral radar,
The common detection zone that can be detected to radar or backward radar with corresponding lateral radar before selected, with the lateral radar of determination
Installation site information.The present invention utilizes the front/rear common detection zone to radar and lateral radar, by front/rear to radar
With the location information of the same target of lateral radar asorbing paint, can complete to the front/rear calibration to radar and lateral radar, but should
Radar Calibration method in patent needs to carry out calibration by other cooperations for having installed radar can not be to the radar of exclusive use
Installation site and posture are demarcated, while formula is more in the patent, are calculated complexity, are not suitable for quickly and simply demarcating
And installation, therefore still have limitation.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes the caliberating device and its mark of a kind of vehicle-mounted millimeter wave radar installation site
Determine method.
A kind of caliberating device of vehicle-mounted millimeter wave radar installation site further includes in thunder including radar onboard is arranged
Up to front be arranged for determining the spotting group of radar installation site, the spotting group includes that pedestal, setting exist
Array support rod on pedestal is provided with the corner reflector that can reflect millimeter wave on every group of support rod.
The radar is vehicle-mounted millimeter wave radar, the radar and communications equipment and the calculating for being equipped with calibrating procedure
Machine cooperation.
The array support rod it is different in size, there are four the described corner reflector settings.
Front and back is in staggered distribution four corner reflectors on the longitudinal direction of pedestal, while wherein close to the first two of radar in height
It centered on radar terrain clearance and is respectively just staggeredly arranged on degree, and latter two corner reflector terrain clearance is identical.
The first two in four corner reflectors close to radar is located on the longitudinal centre line of pedestal, and latter two corner reflector
Centered on pedestal longitudinal centre line, left and right is staggeredly arranged in transverse direction.
A kind of scaling method of the caliberating device of vehicle-mounted millimeter wave radar installation site, the specific steps of which are as follows:
S1: positioning: when Radar Calibration, spotting group is fixedly placed in immediately ahead of radar at distance；
S2: calibration: the calibrating procedure in computer sends the installation calibration that calibration sign on carries out radar；
S3: send information: the information for detecting spotting group obtained is sent to calibration software by radar；
S4: compare: calibrating procedure extracts the echo amplitude value of corner reflector that radar reports and angle value relatively and corrects；
S5: the calibration of pitch angle: amplitude error value Δ P=fP(P1, P2, P3, P4), radar is embodied by amplitude error value Δ P
Pitch angle deviation degree demarcates the pitch angle of radar, and guides the correction for carrying out radar pitch angle；
S6: the calibration of horizontal angle: level angle deviation Δ θ=fθ(θ1, θ2, θ3, θ4), it is embodied by angu-lar deviation Δ θ
Radar horizon angular displacement degree, demarcates the horizontal angle of radar, and guides the correction for carrying out radar horizon angle.
On the extended line that position in the S1 needs that radar is made to be in target group longitudinal centre line, while keeping target
Group longitudinal centre line is parallel with vehicle body longitudinal centre line or is overlapped.
The information of spotting group in the S3 include in spotting group the distance, angle of four corner reflectors and
Echo amplitude information, calibration software pass through range information R1、R2、R3、R4Distinguish the corner reflector of respective corresponding position.
The echo amplitude value of four corner reflectors in the S4 is respectively P1、P2、P3、P4, by comparing P1And P2Ratio
Example or difference relationship, while using by distance and corner reflector bring inherent variability value itself and P3、P4Two redundancy amplitude letters
Breath is modified it.
The angle value of four corner reflectors in the S6 is respectively (θ1, θ2, θ3, θ4), by comparing (θ1, θ2, θ3, θ4),
Obtain level angle deviation Δ θ=fθ(θ1, θ2, θ3, θ4), wherein the angle value of four corner reflectors is mutually redundant condition, into
Row mutually amendment, improves deviation Δ θ confidence level.
The beneficial effects of the present invention are: spotting group is placed in fixed in front of vehicle-mounted millimeter wave radar in calibration process
At position, radar establishes connection by communication apparatus with the computer for being equipped with calibrating procedure, carries out data exchange；Computer is logical
It crosses calibrating procedure and sends calibration instruction, the front spotting group that radar will detect after the instruction for receiving computer to radar
Information feeds back to the calibrating procedure in computer, and calibrating procedure carries out analysis judgment to the information received, calculates including pitching
The deviation of radar Installation posture including angle and horizontal angle, for instructing the adjustment and correction of radar Installation posture；The present invention can
It is widely used in the offline installation equipped with vehicle-mounted millimeter wave radar vehicle to demarcate, improves radar installation accuracy, it is ensured that radar detection
Performance, support vehicles driving safety.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overlooking structure diagram of the invention；
Fig. 2 is spotting group vertical structure schematic diagram of the invention；
Fig. 3 is spotting group overlooking structure diagram two of the invention；
Fig. 4 is spotting group transverse structure schematic diagram three of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 4, a kind of caliberating device of vehicle-mounted millimeter wave radar installation site, including being arranged onboard
Radar 2 further includes being arranged in front of radar 2 for determining the spotting group 1 of 2 installation site of radar, the calibration mesh
Mark group 1 includes being provided with and can reflecting on pedestal 1c, array the support rod 1a, every group of support rod 1a being arranged on pedestal 1c
The corner reflector 1b of millimeter wave.
The radar 2 is vehicle-mounted millimeter wave radar, the radar 2 and communication equipment and the meter for being equipped with calibrating procedure
The cooperation of calculation machine.
In calibration process, spotting group 1 is placed at 2 forward anchoring position of vehicle-mounted millimeter wave radar, radar 2 and installation
There is the computer of calibrating procedure to establish connection by communication apparatus, carries out data exchange.
Computer sends calibration instruction to radar 2 by calibrating procedure, and radar 2 will detection after the instruction for receiving computer
To front spotting group information feed back to the calibrating procedure in computer, calibrating procedure carries out parsing to the information received and sentences
It is disconnected, the deviation of the radar Installation posture including pitch angle and horizontal angle is calculated, for instructing the tune of 2 Installation posture of radar
Whole and correction.
The array support rod 1a's is different in size, and there are four the corner reflector 1b settings.
Front and back is in staggered distribution four corner reflector 1b on the longitudinal direction of pedestal 1c, while wherein two before radar 2
It is a centered on 2 terrain clearance of radar and to be respectively just staggeredly arranged in height, and latter two corner reflector 1b terrain clearance
It is identical.
The first two in four corner reflector 1b close to radar 2 is located on the longitudinal centre line of pedestal 1c, and latter two angle
Reflector 1b is centered on pedestal 1c longitudinal centre line, and left and right is staggeredly arranged in transverse direction.
A kind of scaling method of the caliberating device of vehicle-mounted millimeter wave radar installation site, the specific steps of which are as follows:
S1: positioning: when radar 2 is demarcated, spotting group 1 is fixedly placed at 2 front distance d of radar；
S2: calibration: the calibrating procedure in computer sends the installation calibration that calibration sign on carries out radar 2；
S3: send information: the information for detecting spotting group 1 obtained is sent to calibration software by radar 2；
S4: compare: calibrating procedure extracts the echo amplitude value of corner reflector 1b that radar 2 reports and angle value relatively and repairs
Just；
S5: the calibration of pitch angle: amplitude error value Δ P=fP(P1, P2, P3, P4), radar 2 is embodied by amplitude error value Δ P
Pitch angle deviation degree demarcates the pitch angle of radar 2, and guides the correction for carrying out 2 pitch angle of radar；
S6: the calibration of horizontal angle: level angle deviation Δ θ=fθ(θ1, θ2, θ3, θ4), it is embodied by angu-lar deviation Δ θ
2 horizontal angle extent of deviation of radar, demarcates the horizontal angle of radar 2, and guides the correction for carrying out 2 horizontal angle of radar.
On the extended line that position in the S1 needs that radar 2 is made to be in target group longitudinal centre line, while keeping mesh
Mark group longitudinal centre line is parallel with vehicle body longitudinal centre line or is overlapped.
The information of spotting group 1 in the S3 includes the distance of four corner reflector 1b, angle in spotting group 1
Degree and echo amplitude information, calibration software pass through range information R1、R2、R3、R4Distinguish the corner reflector 1b of respective corresponding position.
The echo amplitude value of four corner reflector 1b in the S4 is respectively P1、P2、P3、P4, by comparing P1And P2's
Ratio or difference relationship, while using by distance and corner reflector 1b itself bring inherent variability value and P3、P4Two redundancy width
Degree information is modified it.
It invention can be widely used in the offline installation equipped with vehicle-mounted millimeter wave radar vehicle to demarcate, improve radar 2 and install
Precision, it is ensured that 2 detection performance of radar, support vehicles driving safety.
The angle value of four corner reflector 1b in the S6 is respectively (θ1, θ2, θ3, θ4), by comparing (θ1, θ2, θ3,
θ4), obtain level angle deviation Δ θ=fθ(θ1, θ2, θ3, θ4), wherein the angle value of four corner reflector 1b is mutually redundant item
Part is mutually corrected, and deviation Δ θ confidence level is improved.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (10)
1. a kind of caliberating device of vehicle-mounted millimeter wave radar installation site, including radar (2) onboard is arranged, feature exists
In: it further include being arranged in front of radar (2) for determining the spotting group (1) of radar (2) installation site, the calibration
Target group (1) includes the array support rod (1a) of pedestal (1c), setting on pedestal (1c), is respectively provided on every group of support rod (1a)
There is the corner reflector (1b) that can reflect millimeter wave.
2. a kind of caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 1, it is characterised in that: it is described
Radar (2) be vehicle-mounted millimeter wave radar, the radar (2) and communication equipment and the computer for being equipped with calibrating procedure are matched
It closes.
3. a kind of caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 1, it is characterised in that: it is described
Array support rod (1a) it is different in size, there are four described corner reflector (1b) settings.
4. a kind of caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 3, it is characterised in that: four
Corner reflector (1b) on the longitudinal direction of pedestal (1c) front and back be in staggered distribution, while wherein the first two close to radar (2) in height
It centered on radar (2) terrain clearance and is respectively just staggeredly arranged on degree, and latter two corner reflector (1b) terrain clearance phase
Together.
5. a kind of caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 3, it is characterised in that: four
The first two in corner reflector (1b) close to radar (2) is located on the longitudinal centre line of pedestal (1c), and latter two corner reflector
(1b) centered on pedestal (1c) longitudinal centre line, left and right is staggeredly arranged in transverse direction.
6. the mark of the caliberating device using a kind of vehicle-mounted millimeter wave radar installation site described in any one of any one of claims 1 to 55
Determine method, it is characterised in that: the specific steps of which are as follows:
S1: positioning: when radar (2) is demarcated, spotting group (1) is fixedly placed in immediately ahead of radar (2) at distance d；
S2: calibration: the calibrating procedure in computer sends the installation calibration that calibration sign on carries out radar (2)；
S3: send information: the information for detecting spotting group (1) obtained is sent to calibration software by radar (2)；
S4: compare: calibrating procedure extracts the echo amplitude value of corner reflector (1b) that radar (2) report and angle value relatively and repairs
Just；
S5: the calibration of pitch angle: amplitude error value Δ P=fP(P1, P2, P3, P4), radar (2) are embodied by amplitude error value Δ P and are bowed
Elevation deflection degree demarcates the pitch angle of radar (2), and guides the correction for carrying out radar (2) pitch angle；
S6: the calibration of horizontal angle: level angle deviation Δ θ=fθ(θ1, θ2, θ3, θ4), radar is embodied by angu-lar deviation Δ θ
(2) horizontal angle extent of deviation demarcates the horizontal angle of radar (2), and guides the correction for carrying out radar (2) horizontal angle.
7. a kind of scaling method of the caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 6, special
Sign is: on the extended line that the position in the S1 needs that radar (2) is made to be in target group longitudinal centre line, while keeping mesh
Mark group longitudinal centre line is parallel with vehicle body longitudinal centre line or is overlapped.
8. a kind of scaling method of the caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 6, special
Sign is: the information of the spotting group (1) in the S3 include in spotting group (1) four corner reflectors (1b) away from
From, angle and echo amplitude information, calibration software passes through range information R1、R2、R3、R4Distinguish the corner reflection of respective corresponding position
Device (1b).
9. a kind of scaling method of the caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 6, special
Sign is: the echo amplitude value of four corner reflectors (1b) in the S4 is respectively P1、P2、P3、P4, by comparing P1And P2's
Ratio or difference relationship, while using by distance and bring inherent variability value of corner reflector (1b) itself and P3、P4Two redundancies
Amplitude information is modified it.
10. a kind of scaling method of the caliberating device of vehicle-mounted millimeter wave radar installation site according to claim 6, special
Sign is: the angle value of four corner reflectors (1b) in the S6 is respectively θ1, θ2, θ3, θ4, by comparing θ1, θ2, θ3,
θ4, obtained level angle deviation Δ θ=fθ(θ1, θ2, θ3, θ4), wherein the angle value of four corner reflectors (1b) is superfluous each other
Remaining condition, is mutually corrected, and deviation Δ θ confidence level is improved.
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| CN111521979A (en) * | 2019-02-01 | 2020-08-11 | 比亚迪股份有限公司 | Method and device for calibrating installation angle of vehicle-mounted radar and related equipment thereof |
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